TWI683194B - Intelligent five-axis simultaneous multi-phase waterjet machining system - Google Patents

Intelligent five-axis simultaneous multi-phase waterjet machining system Download PDF

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TWI683194B
TWI683194B TW108113976A TW108113976A TWI683194B TW I683194 B TWI683194 B TW I683194B TW 108113976 A TW108113976 A TW 108113976A TW 108113976 A TW108113976 A TW 108113976A TW I683194 B TWI683194 B TW I683194B
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intelligent
cutting head
angle
machining
waterjet
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TW108113976A
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TW202040296A (en
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蘇友欣
鄭品聰
林弘祥
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公準精密工業股份有限公司
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Priority to CN201910717293.8A priority patent/CN111823141A/en
Priority to JP2019171604A priority patent/JP2020175501A/en
Priority to US16/580,071 priority patent/US20200331161A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/04—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass
    • B24C1/045—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass for cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C5/00—Devices or accessories for generating abrasive blasts
    • B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
    • B24C7/0007—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a liquid carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/02—Means for moving the cutting member into its operative position for cutting
    • B26D5/06—Means for moving the cutting member into its operative position for cutting by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F3/00—Severing by means other than cutting; Apparatus therefor
    • B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

一種智慧五軸同動多相態水刀加工系統，包含一加工單元及一監控單元。該加工單元包括一射流裝置。該射流裝置具有一機械臂、一可被該機械臂驅動的切割頭，及一設置於該切割頭上的慣性量測模組。該監控單元包括一水刀加工參數智慧計算補償模組，及一智能化控制器。該慣性量測模組可即時且準確地測得該切割頭的傾擺角度，使該姿態補償角參數可回授給該智能化控制器，達到高精準度的傾斜角度補償。加上該切割頭的2.5D槍頭機構特性，及所噴射出的高能量混砂射流束屬於可調式彈性刀長之加成，使本發明的加工精度能趨近機構定位精度，達到航太工業精密加工之等級以上。A smart five-axis simultaneous multiphase waterjet machining system includes a machining unit and a monitoring unit. The processing unit includes a jet device. The jet device has a mechanical arm, a cutting head that can be driven by the mechanical arm, and an inertial measurement module provided on the cutting head. The monitoring unit includes a waterjet machining parameter intelligent calculation compensation module, and an intelligent controller. The inertial measurement module can measure the tilt angle of the cutting head in real time and accurately, so that the attitude compensation angle parameter can be fed back to the intelligent controller to achieve highly accurate tilt angle compensation. Coupled with the 2.5D gun head mechanism characteristics of the cutting head, and the high-energy sand-mixed jet jet is an addition of adjustable elastic blade length, the processing accuracy of the present invention can approach the mechanism positioning accuracy and reach aerospace. Above the level of industrial precision machining.

Description

智慧五軸同動多相態水刀加工系統Intelligent five-axis simultaneous multi-phase waterjet machining system

本發明是有關於一種噴射流切割系統，特別是指一種智慧五軸同動多相態水刀加工系統。The invention relates to a jet flow cutting system, in particular to a smart five-axis simultaneous multi-phase waterjet machining system.

水刀切割是一種透過高增壓轉換成高動能水射流來對工件進行切割加工的技術，高壓的水束流會通過切割頭的噴嘴孔(orifice)而形成具放射性的射流，並據此對射流路徑上的工件進行切割，另外，為了進一步提升切割能力，常會透過文氏管原理將磨料顆粒吸入切割頭的混砂管中，並混入高壓水束流中形成高壓混砂水射流。五軸水刀加工系統是水刀切割機具中常見的一種高階類型，其包含一可進行五個軸向之運動的機械臂、一設置於該機械臂底端且用於輸出高壓混砂水射流的切割頭，及一用於控制該機械臂之動作及該切割頭之開關動作的控制器系統。當操作人員輸入加工條件後，該控制器會帶動該機械臂上的馬達，使該機械臂帶動該切割頭進行五軸運動及對工件噴出高壓混砂射流以進行切割加工。Waterjet cutting is a technology for cutting workpieces by converting high pressure into high kinetic energy water jets. The high pressure water jet will form a radioactive jet through the nozzle hole of the cutting head (orifice), and according to this The workpiece on the jet path is cut. In addition, in order to further improve the cutting ability, abrasive particles are often sucked into the sand mixing tube of the cutting head through the Venturi principle and mixed into the high-pressure water jet to form a high-pressure sand mixed water jet. The five-axis waterjet machining system is a common high-end type in waterjet cutting tools. It includes a manipulator capable of performing five axial movements, and a high-pressure sand-mixed water jet provided at the bottom of the manipulator. Cutting head, and a controller system for controlling the movement of the mechanical arm and the switching action of the cutting head. After the operator enters the processing conditions, the controller will drive the motor on the mechanical arm, so that the mechanical arm drives the cutting head to perform a five-axis movement and spray a high-pressure mixed sand jet on the workpiece to perform the cutting process.

由於混砂高能射流束相當於一種可調變式彈性刀具，也就是其並非是一固定不變的剛體刀長，因此在射出後會受高速移動的移除工件等條件之影響而偏移或彎曲射流束，造成工件上產生水流滯後(Trailback) 及切口斜邊(Taper)等瑕疵，為了克服前述問題，該機械臂(A/C軸)會在切割時控制該切割頭呈傾斜角，如此便可將所有的切口斜邊集中至裁切的一側，並透過控制該切割頭傾斜擬補償水束流滯後之瑕疵，透過擬精準控制該切割頭的傾斜角度，使該切割頭能在高速作業下進行精準加工目的。Because the sand-mixed high-energy jet beam is equivalent to an adjustable and flexible elastic tool, that is, it is not a fixed rigid tool length, it will be offset or affected by the conditions of high-speed removal of the workpiece after injection. Bending the jet beam, causing defects such as water flow lag (Trailback) and cut bevel (Taper) on the workpiece. In order to overcome the aforementioned problems, the robot arm (A/C axis) will control the cutting head to be inclined at the time of cutting, so All the incline edges of the cut can be concentrated to the side of the cut, and the tilt of the cutting head is to be compensated for by controlling the tilt of the cutting head. The purpose of precise processing under operation.

然而，該機械臂上的馬達雖可受控制而精準地進行旋轉，但在該等馬達旋轉後，該機械臂及該切割頭還會因機構受背隙誤差、節距誤差等多項定位精度因素影響，或受磨料條件、水刀條件、運動條件、加工材料等等其他因素影響，導致該切割頭的實際傾斜角度與馬達所輸出的理想角度有所差距，造成加工精度的降低及補償效果的打折，因此該五軸水刀加工系統仍有技術改良的空間。However, although the motor on the robot arm can be controlled to rotate accurately, after the motors are rotated, the robot arm and the cutting head are subject to multiple positioning accuracy factors such as backlash error and pitch error due to the mechanism Affected, or affected by other factors such as abrasive conditions, waterjet conditions, motion conditions, processing materials, etc., resulting in a gap between the actual tilt angle of the cutting head and the ideal angle output by the motor, resulting in a reduction in processing accuracy and compensation effects Discounted, so the five-axis waterjet machining system still has room for technical improvement.

本案申請人為了改善前述問題，因此在第I618602號台灣發明專利案中揭露了一種水刀切割裝置，其在切割頭上設有慣性量測元件(Inertial measurement unit，IMU)，以達到即時監測切割頭的實際傾斜角度之功效。該水刀切割裝置的靜態定位精度(Accuracy of Position)範圍為0.0001∘~0.1∘間，最佳動態定位精度(Transmission Accuracy)操作在0.001∘~0.05∘，足見其高精密性，這種即時監測實際傾斜姿態角度的技術也為五軸水刀加工系統帶來嶄新的發展可能性如，可即時修正加工程式碼的編程補正。然而目前市面上五軸水刀系統的控制器並無法應用於本案申請人所發明的水刀切割裝置。In order to improve the aforementioned problems, the applicant in this case disclosed a waterjet cutting device in the Taiwan Invention Patent No. I618602, which is equipped with an inertial measurement unit (IMU) on the cutting head to achieve real-time monitoring of the cutting head The effect of the actual tilt angle. The static positioning accuracy (Accuracy of Position) range of the waterjet cutting device is between 0.0001∘~0.1∘, the best dynamic positioning accuracy (Transmission Accuracy) operation is 0.001∘~0.05∘, which shows its high precision, this real-time monitoring The actual tilt attitude angle technology has also brought new development possibilities to the five-axis waterjet machining system. For example, it can instantly correct the programming correction of the machining code. However, the current controller of the five-axis waterjet system on the market cannot be applied to the waterjet cutting device invented by the applicant of the present case.

參閱圖1，OMAX公司在美國專利US20180364679A1號中揭露了一種為射流切割工具產生優化的刀具路徑及機床命令的方法，雖然其可透過經驗數據的第一階函數及第二階函數來產生刀具路徑，但該刀具路徑中對於傾斜角度的數據仍是擷取自馬達等致動器，非刀具中心點(TCP)位置與姿態角迴授，更無法即時修正加工程式碼的編程誤差值，故仍不夠精準且其控制器無法應用於第I618602號台灣發明專利案具有慣性量測元件切割頭。Referring to FIG. 1, OMAX disclosed in US Patent No. US20180364679A1 a method for generating optimized tool paths and machine tool commands for jet cutting tools, although it can generate tool paths through first-order functions and second-order functions of empirical data However, the tilt angle data in the tool path is still taken from actuators such as motors. The position and attitude angle of the non-tool center point (TCP) are fed back, and the programming error value of the machining code cannot be corrected in real time, so it is still It is not accurate enough and its controller cannot be applied to the Taiwan Invention Patent No. I618602 which has an inertial measurement element cutting head.

Water Jet Sweden公司在美國專利US20180059638A1號中揭露了一種流體射流切割系統及控制該系統運動的方法，其控制單元可根據預定的傾斜角度值(PIA)來操作切割頭的運動，並且根據PIA自動地調整切割頭相對於工件的速度，從而控制工件切割表面的回跡角(trailback angle，TA)，並自動補償射流引起的角度位移值(AD)，但該案中也是用編碼器等感應器來量測馬達的輸出量，以計算出切割頭的傾斜程度，亦非刀具中心點(TCP)位置與姿態角迴授，同樣有前述精度不足且無法應用於第I618602號台灣發明專利案之具有慣性量測元件切割頭的問題。Water Jet Sweden has disclosed a fluid jet cutting system and a method for controlling the movement of the system in US Patent No. US20180059638A1. The control unit can operate the movement of the cutting head according to a predetermined tilt angle value (PIA), and automatically according to PIA Adjust the speed of the cutting head relative to the workpiece to control the trailing angle (TA) of the cutting surface of the workpiece and automatically compensate for the angular displacement value (AD) caused by the jet, but in this case, sensors such as encoders are also used Measure the output of the motor to calculate the inclination of the cutting head, and it is not the feedback of the tool center point (TCP) position and attitude angle. It also has the aforementioned inaccuracy and cannot be applied to the Taiwan Invention Patent No. I618602. Measure the problem of the cutting head of the component.

參閱圖2，Flow公司在美國專利US9597772B2號中揭露了一種可自動確定切割射流2的速度與取向參數的自適應向量控制系統，其透過射流入射輪廓及初射輪廓的點來確定三維曲率特徵的指定容差是否超出預期，若是，則自動確定偏離校正角，以透過調整切割頭的傾斜及旋轉位置來將射流取向調整至指定容差內，該案自動確定偏離校正角的過程中，並未將切割頭的實際偏擺角度作為參考值進行補償，僅屬於數學模型的偏差補償計算，未結合刀具中心點(TCP)的實際物理(整體電控訊號處理速度與軟硬體參數匹配)模型的偏差迴授補償計算，因此與前述案件產生相同之問題。綜上所述，目前縱使是各國水刀系統的大廠，也未有以實際物理傾斜角度來對傾斜角度進行姿態角度補償之有效技術方案，因此申請人欲在此提出能基於實際傾斜姿態角度進行姿態角補償的五軸水刀加工系統，所得出的姿態補償角參數可回授給智能化控制器，而本發明的該智能化控制器也可用於控制前述大廠的切割頭裝置。Referring to FIG. 2, Flow Company disclosed in US Patent No. US9597772B2 an adaptive vector control system that can automatically determine the speed and orientation parameters of the cutting jet 2, which determines the three-dimensional curvature characteristics through the points of the jet's incident profile and initial profile Whether the specified tolerance exceeds expectations, if it is, the deviation correction angle is automatically determined to adjust the jet orientation to the specified tolerance by adjusting the incline and rotation position of the cutting head. The actual deflection angle of the cutting head is used as a reference value for compensation. It is only a calculation of the deviation compensation of the mathematical model. It does not combine the actual physics of the tool center point (TCP) (the overall electronic control signal processing speed matches the hardware and software parameters) model. The deviation feedback compensation calculation, therefore, has the same problem as the previous case. In summary, even though the current major manufacturers of waterjet systems in various countries, there is no effective technical solution to compensate the tilt angle with the actual physical tilt angle, so the applicant wants to propose here that it can be based on the actual tilt attitude angle In a five-axis waterjet machining system that performs attitude angle compensation, the obtained attitude compensation angle parameters can be fed back to the intelligent controller, and the intelligent controller of the present invention can also be used to control the cutting head devices of the aforementioned large factories.

因此，本發明之目的，即在提供一種可實際操作精準地進行刀具中心點(TCP) 位置與傾斜姿態角度補償，以及水刀加工參數智慧計算補償模組的智能化控制器之智慧五軸同動多相態水刀加工系統。Therefore, the purpose of the present invention is to provide a smart five-axis intelligent controller that can accurately perform tool center point (TCP) position and tilt attitude angle compensation and intelligent calculation compensation module for waterjet machining parameters Dynamic multi-phase waterjet machining system.

於是，本發明智慧五軸同動多相態水刀加工系統，用於對一工件進行加工，並包含一加工單元及一監控單元該加工單元包括一射流裝置、一連接該射流裝置的供砂源，及一連接該射流裝置且提供高壓水射流的供水源，該射流裝置具有一個機械臂、一連接於該機械臂上且連接該供砂源及該供水源而可受控制噴出混砂射流的切割頭、複數設置於該機械臂上以使該機械臂帶動該切割頭沿五個軸向進行運動的馬達，及一設置於該切割頭上，並可感測該切割頭之刀具中心點空間位態定位的慣性量測模組。Therefore, the intelligent five-axis simultaneous multi-phase waterjet machining system of the present invention is used for machining a workpiece, and includes a machining unit and a monitoring unit. The machining unit includes a jet device and a sand supply device connected to the jet device Source, and a water supply source connected to the jet device and providing a high-pressure water jet, the jet device has a mechanical arm, a mechanical arm connected to the mechanical arm and connected to the sand supply source and the water supply source, and can be controlled to emit a mixed sand jet Cutting head, a plurality of motors arranged on the mechanical arm so that the mechanical arm drives the cutting head to move in five axial directions, and a motor arranged on the cutting head and capable of sensing the center point space of the cutter of the cutting head Inertial measurement module for positional positioning.

該監控單元包括一可根據目標加工條件計算出補償值的水刀加工參數智慧計算補償模組，及一訊號連接該水刀加工參數智慧計算補償模組、該等馬達及該慣性量測模組的智能化控制器，該水刀加工參數智慧計算補償模組的目標加工條件包括一欲在該工件上加工之角度，該補償值包括一姿態補償角參數，該智能化控制器可將該加工之角度與該姿態補償角參數匯流而得出一理想值，接著比對該等馬達的實際擺轉角度與該慣性量測模組的傾擺角度而得出一差值，將該差值與該理想值匯流而得出一回授姿態角度，該智能化控制器可即時根據該回授姿態角度即時控制該等馬達以即時進行姿態角度補償。The monitoring unit includes a water jet machining parameter intelligent calculation compensation module that can calculate compensation values according to target machining conditions, and a signal connected to the water jet machining parameter intelligent calculation compensation module, the motors, and the inertial measurement module The intelligent controller of the water jet machining parameter intelligently calculates the compensation module's target machining conditions including an angle to be processed on the workpiece, the compensation value includes an attitude compensation angle parameter, and the intelligent controller can perform the machining The angle and the attitude compensation angle are converged to obtain an ideal value, and then the actual swing angle of the motors and the tilt angle of the inertial measurement module are compared to obtain a difference, and the difference is The ideal value converges to obtain a feedback attitude angle, and the intelligent controller can control the motors in real time according to the feedback attitude angle to perform attitude angle compensation in real time.

本發明之功效在於：該慣性量測模組是直接設置於該切割頭上，因此可即時且準確地測得該切割頭之刀具中心TCP點的空間傾擺角度，該水刀加工參數智慧計算補償模組則可計算出基於該傾擺角度的姿態補償角參數，此一姿態補償角參數可回授給該智能化控制器，以對刀具中心點(TCP)位置與姿態角迴授進行高精密度的姿態角度補償，加上該切割頭的2.5D槍頭機構特性，及所射出的混砂射流屬於可調式彈性刀長之加成，使本發明的加工精度能趨近定位精度，達到航太工業精密加工之等級以上。此外，本發明的智能化控制器也可應用於未設置慣性量測模組的一般切割頭裝置，泛用性高。The effect of the present invention is that the inertial measurement module is directly arranged on the cutting head, so the spatial tilt angle of the TCP point of the cutter center of the cutting head can be measured immediately and accurately, and the waterjet machining parameters are intelligently calculated and compensated The module can calculate the attitude compensation angle parameter based on the tilt angle. This attitude compensation angle parameter can be fed back to the intelligent controller to perform high-precision feedback on the tool center point (TCP) position and attitude angle. The degree of posture angle compensation, plus the 2.5D gun head mechanism characteristics of the cutting head, and the mixed sand jet that belongs to the adjustable elastic knife length are added, so that the processing accuracy of the present invention can approach the positioning accuracy and achieve aviation It is above the level of precision processing in Tai Industrial. In addition, the intelligent controller of the present invention can also be applied to a general cutting head device without an inertial measurement module, which is highly versatile.

參閱圖3及圖4，本發明智慧五軸同動多相態水刀加工系統1之一實施例，包含一加工單元2及一監控單元3，該加工單元2包括一射流裝置21、一連接該射流裝置21的供砂源22，及一連接該射流裝置21的供水源23。該射流裝置21具有一機構配置如圖4所示而具五個軸向之自由度的機械臂211、一連接於該機械臂211上且連接該供砂源22及該供水源23的切割頭212、二設置於該機械臂211關節(joint)處的馬達213、一設置於該切割頭212頂端的慣性量測模組214(Inertial measurement unit，IMU)，及複數設置於該等馬達213上的編碼器215(未顯示於圖4上)。在本實施例中，該切割頭212屬於AWJ(Abrasive-WaterJet)式2.5D槍頭，該等馬達213為中空式而可供管線通過的諧和式伺服馬達(Harmonic Drive)，透過該等馬達213可帶動該機械臂211在三個軸向上直線移動(x、y、z軸)，及在兩個軸向上旋轉(Pitch、yaw)，使該切割頭212進行2.5D加工。當然，在實際配置上該等馬達213並不以前述類型為限，該機械臂211的機構也不以圖4的型式為限，只要能帶動該機械臂211進行五軸運動，並使該切割頭212偏擺傾斜即可。該慣性量測模組214具有一磁力計216、一加速計217，及一陀螺儀218(僅顯示於圖4)。前述構件可透過磁北方向、重力及加速度來計算該切割頭212的旋轉傾擺方位角度，以感測該切割頭212之刀具中心點A(TCP)空間位態。該等編碼器215(Encoder)是被動地感測該等馬達213的旋轉，以即時檢測及反饋該等馬達213所輸出的實際擺轉角度。該供砂源22是提供石榴石砂等磨料，該供水源23提供高壓水射流，兩者透過文氏管原理在該切割頭212的混砂室及混砂管(圖未示)中混合，最後以高壓混砂射流之形態輸出以進行切割，屬於可調式彈性刀長(A beam cutting tools of adjustable jets with cutting model)。3 and 4, an embodiment of the intelligent five-axis simultaneous multi-phase waterjet machining system 1 of the present invention includes a machining unit 2 and a monitoring unit 3, the machining unit 2 includes a jet device 21, a connection The sand supply source 22 of the jet device 21 and a water supply source 23 connected to the jet device 21. The jet device 21 has a mechanical arm 211 with five axial degrees of freedom as shown in FIG. 4, and a cutting head connected to the mechanical arm 211 and connected to the sand supply source 22 and the water supply source 23 212. Two motors 213 disposed at the joint of the robot arm 211, an inertial measurement unit 214 (IMU) disposed at the top of the cutting head 212, and plural motors 213 Encoder 215 (not shown in Figure 4). In this embodiment, the cutting head 212 belongs to an AWJ (Abrasive-WaterJet) 2.5D gun head, and the motors 213 are hollow and harmonious servo motors (Harmonic Drive) through which the pipeline can pass. The manipulator 211 can be driven to move linearly in three axes (x, y, and z axes), and rotate in two axes (Pitch, yaw), so that the cutting head 212 can perform 2.5D processing. Of course, in actual configuration, the motors 213 are not limited to the aforementioned types, and the mechanism of the robot arm 211 is not limited to the type of FIG. 4 as long as the robot arm 211 can be driven to perform five-axis movement and make the cutting The head 212 may be tilted or tilted. The inertial measurement module 214 has a magnetometer 216, an accelerometer 217, and a gyroscope 218 (only shown in FIG. 4). The aforementioned component can calculate the rotation tilt angle of the cutting head 212 through the magnetic north direction, gravity, and acceleration to sense the spatial position of the tool center point A (TCP) of the cutting head 212. The encoders 215 (Encoder) passively sense the rotation of the motors 213 to detect and feedback the actual swing angle output by the motors 213 in real time. The sand supply source 22 provides abrasives such as garnet sand, and the water supply source 23 provides a high-pressure water jet. The two are mixed in the sand mixing chamber and the sand mixing tube (not shown) of the cutting head 212 through the venturi principle. Finally, it is output in the form of high-pressure mixed sand jet for cutting, which belongs to A beam cutting tools of adjustable jets with cutting model.

該監控單元3包括一訊號連接該等馬達213及該慣性量測模組214的智能化控制器31、一訊號連接該智能化控制器31的水刀加工參數智慧計算補償模組32、一訊號連接該智能化控制器31並對應該機械臂211的定位檢驗模組33、一訊號連接該智能化控制器31及該加工單元2的預警模組34，及一訊號連接該智能化控制器31並監測該切割頭212的耗材提示模組35。該智能化控制器31(Controller)可與一電腦41連接，並將取得的各項數據資料排列成VDW格式，再以通信平台統一架構方式(OPC UA)輸出至該電腦41、其他智慧裝置42，或雲端資料庫43上，VDW格式可與德國工具機資料相容，提升泛用性。在本實施例中，該智能化控制器31為可控制該等馬達213作動的CNC控制器，並透過控制該切割頭212上的開/關閥來射出或停止射流，此外還可透過資料擷取來監控行號、加工座標點、實際速率，及偏擺角度等等。The monitoring unit 3 includes a signal-connected intelligent controller 31 connecting the motors 213 and the inertial measurement module 214, a signal-connected waterjet machining parameter intelligent calculation compensation module 32, and a signal The intelligent controller 31 is connected to the positioning inspection module 33 corresponding to the mechanical arm 211, a signal is connected to the intelligent controller 31 and the early warning module 34 of the processing unit 2, and a signal is connected to the intelligent controller 31 And monitor the consumable prompt module 35 of the cutting head 212. The intelligent controller 31 (Controller) can be connected to a computer 41, and arrange the acquired data into VDW format, and then output to the computer 41 and other smart devices 42 in a unified architecture of communication platform (OPC UA) , Or on cloud database 43, the VDW format is compatible with German machine tool data, improving versatility. In this embodiment, the intelligent controller 31 is a CNC controller that can control the actuation of the motors 213, and controls the opening/closing valve on the cutting head 212 to shoot or stop the jet, in addition, through data acquisition It is used to monitor the line number, processing coordinate point, actual speed, and deflection angle, etc.

該水刀加工參數智慧計算補償模組32(Cutting model)內嵌於電腦41端的可編程軟體CAD/CAM/CAE中，但也可以直接設置於該智能化控制器31中，其可預先建構理想模型，並根據目標加工條件計算出補償值及分析值。該目標加工條件可包括在工件上加工之角度、磨料參數、切割頭212參數、射流裝置21條件、材料特性條件及表面品質需求等等，該磨料參數包括磨料粒徑、磨料形狀及磨料密度。該切割頭212參數包括槍頭形式(T type或Y type)、混砂管長及混砂管徑。該射流裝置21條件包括水刀輸出壓力、噴嘴直徑、總馬力及最佳效率等等。該材料特性條件包括加工件的材料種類及材料厚度。該補償值包括一姿態補償角參數，其計算方式容後詳述。該分析值包括該射距淨空(stand-off)、姿態角度(Attack angle，或稱攻擊角度)、切割移動速率、加工總時間、目前機械輸出效率、系統設備能源使用效率(kW E，kW D)與加工成本概算等等。 The water jet machining parameter intelligent calculation compensation module 32 (Cutting model) is embedded in the programmable software CAD/CAM/CAE of the computer 41 end, but it can also be directly set in the intelligent controller 31, which can be constructed ideally in advance Model, and calculate the compensation value and analysis value according to the target processing conditions. The target processing conditions may include processing angle on the workpiece, abrasive parameters, cutting head 212 parameters, jet device 21 conditions, material characteristic conditions, surface quality requirements, etc. The abrasive parameters include abrasive particle size, abrasive shape, and abrasive density. The parameters of the cutting head 212 include the tip type (T type or Y type), the length of the sand mixing tube and the diameter of the sand mixing tube. The conditions of the jet device 21 include waterjet output pressure, nozzle diameter, total horsepower and optimal efficiency, etc. The material characteristic conditions include the material type and material thickness of the processed parts. The compensation value includes an attitude compensation angle parameter, and its calculation method will be described in detail later. The analysis value includes the stand-off, the attack angle (or attack angle), the cutting movement rate, the total processing time, the current mechanical output efficiency, and the energy efficiency of the system equipment (kW E , kW D ) And processing cost estimates, etc.

該定位檢驗模組33具有複數用於檢測該機械臂211的雷射干涉儀，該等雷射干涉儀分別用於監測該機械臂211的各個目標部位(例如各關節、樞轉處、連接處等等)的實際位置，並與該智能化控制器31中的目標位置比對而得出誤差值，該等雷射干涉儀可將該等誤差值輸入該智能化控制器31中，使該智能化控制器31可調整該等馬達213以對該機械臂211進行補償，從而消彌該機械臂211在機構運動時的背隙(backlash)及節距誤差(Pitch Error)，當然，不僅是對機械臂211，若該機械臂211前端還有連接龍門型滑台或其他運動機構，也可透過其他雷射干涉儀進行監測。該預警模組34可監控該供砂源22及該供水源23的開關、砂位，該射流裝置21的油位、油壓、水壓、行程及是否過載。該耗材提示模組35可監控該切割頭212的總加工時間、總噴水時間及總噴砂時間，並經計算後在該智能化控制器31的人機介面(Human Machine Interface)顯示該切割頭212、及設置於該切割頭212上的密封圈、噴嘴及混砂管的剩餘壽命，並顯示高壓主機的故障問題點。The positioning inspection module 33 has a plurality of laser interferometers for detecting the robot arm 211, and the laser interferometers are used to monitor various target parts of the robot arm 211 (such as joints, pivots, and connections) Etc.), and compare it with the target position in the intelligent controller 31 to obtain the error value. The laser interferometers can input the same error value into the intelligent controller 31 to make the The intelligent controller 31 can adjust the motors 213 to compensate the mechanical arm 211, thereby eliminating the backlash and pitch error of the mechanical arm 211 when the mechanism moves. Of course, not only For the robot arm 211, if there is a gantry-type slide table or other motion mechanism connected to the front end of the robot arm 211, it can also be monitored by other laser interferometers. The early warning module 34 can monitor the switches of the sand supply source 22 and the water supply source 23, the sand level, the oil level, oil pressure, water pressure, stroke of the jet device 21 and whether it is overloaded. The consumables prompting module 35 can monitor the total processing time, total water spraying time and total sandblasting time of the cutting head 212, and after calculation, display the cutting head 212 on the human machine interface (Human Machine Interface) of the intelligent controller 31 , And the remaining life of the sealing ring, nozzle and sand mixing tube installed on the cutting head 212, and display the fault point of the high-pressure host.

參閱圖3及圖5，首先說明本實施例的作業邏輯，本實施例如圖5所示地先製成GM碼(製成方式容後說明)，接著在電腦41端上進行路徑空跑模擬，此屬於數學模式確認，若模擬的加工路徑正確，便以人機介面(HMI)模擬水刀運行，此屬於物理模式確認，若運行路徑同樣正確的話，便以純水不加砂進行打樣以供比對，若正確則在最後開啟超高壓(UHP)水刀進行加工，若刀具空行路徑的模擬或以人機介面模擬水刀運行的路徑有誤的話，則重新產生GM碼，並依流程再次進行模擬，而若水刀試打樣的結果有誤的話，則根據加工參數的姿態補償角修改NC碼(修改方式容後敘述)。Referring to FIGS. 3 and 5, the operation logic of this embodiment will be described first. In this embodiment, the GM code is first produced as shown in FIG. 5 (the method of production will be described later), and then a path run simulation is performed on the computer 41 end. This is a mathematical mode confirmation. If the simulated processing path is correct, the waterjet operation is simulated with a human-machine interface (HMI). This is a physical mode confirmation. If the running path is also correct, the pure water without sand is used for proofing. Compare, if it is correct, turn on the ultra-high pressure (UHP) waterjet at the end for processing. If the simulation of the empty path of the tool or the path of the waterjet simulation with the human-machine interface is wrong, the GM code will be regenerated and follow the process. Simulate again, and if the result of the waterjet trial proofing is wrong, modify the NC code according to the attitude compensation angle of the processing parameters (the modification method will be described later).

參閱圖3、圖6及圖7，接著說明前述GM碼的製作及動作流程，先將產品的設計構思以CAD軟體(如Solidwork或AutoCAD)建構成形，接著再以CAM軟體(如Mastercam)分析CAD所生成的檔案並轉成刀具路徑檔，再透過後處理器將刀具路徑檔轉換為NC檔(即GM碼)，該智能化控制器31轉換成自動模式後將該參數智慧計算補償模組32的加工切割參數載入，並開啟NC檔執行(確認材料型號、幾何尺寸)，接著進行前述的路徑空跑模擬、HMI水刀模擬運行及純水試打樣，確認完模擬加工路徑後便開始作業。本實施例用來控制開關水砂及低高壓的M碼如圖7所示。製成的G碼及M碼輸入該智能化控制器31後，該智能化控制器31的解碼器(Decoder)將GM碼轉換為資料結構(此步驟簡稱為DEC)，接著透過該智能化控制器31的座標資料前處理器(Coodinate Data Preprocessor，簡稱CDP)以將機械命令轉換為刀具及工件座標(座標軸包括X、Y、Z、U、V、W)，以該智能化控制器31的插值器(Interpolator)對前述的座標進行實時插值得出X(t)、Y(t)、Z(t)、U(t)、V(t)、W(t)，這時會透過(1)前述該定位檢驗模組33所得到的誤差值、(2)該慣性量測模組214等元件得出的角度補償(角度補償流程容後敘述)、(3)輸出力道回饋等數據進行補償，得出補償值ΔX、ΔY、ΔZ、ΔU、ΔV、ΔW，再以該智能化控制器31的位置控制迴路(Position Control Loop，PCL)進行PID控制(PID control)及前饋控制(Feed Forward control)，作為該智能化控制器31修正NC碼的參考，以控制該等馬達213調整該切割頭212的刀具中心點A(TCP)位置，達到線上即時修改NC碼之功效。Refer to Figure 3, Figure 6 and Figure 7, and then explain the production and operation flow of the aforementioned GM code. First, the product design concept is constructed with CAD software (such as Solidwork or AutoCAD), and then the CAD is analyzed with CAM software (such as Mastercam) The generated file is converted into a tool path file, and then the tool path file is converted into an NC file (ie GM code) through a post-processor. After the intelligent controller 31 is converted into an automatic mode, the parameter intelligently calculates the compensation module 32 Load the machining and cutting parameters, and open the NC file to execute (confirm the material model and geometric size), then perform the aforementioned path empty running simulation, HMI waterjet simulation operation and pure water test proofing, and start the operation after confirming the simulation processing path . The M code used to control the water sand and low pressure in this embodiment is shown in FIG. 7. After the produced G code and M code are input into the intelligent controller 31, the decoder (Decoder) of the intelligent controller 31 converts the GM code into a data structure (referred to as DEC in this step), and then through the intelligent control The Coordinate Data Preprocessor (CDP) of the device 31 is used to convert the mechanical commands into tool and workpiece coordinates (the coordinate axes include X, Y, Z, U, V, W). The intelligent controller 31 The Interpolator interpolates the aforementioned coordinates in real time to generate X(t), Y(t), Z(t), U(t), V(t), W(t), then through (1) The aforementioned error value obtained by the positioning verification module 33, (2) the angle compensation obtained by the inertial measurement module 214 and other components (angle compensation process will be described later), (3) output force feedback and other data to compensate, Obtain the compensation values ΔX, ΔY, ΔZ, ΔU, ΔV, ΔW, and then use the position control loop (Position Control Loop, PCL) of the intelligent controller 31 to perform PID control (PID control) and feed forward control (Feed Forward control ), as a reference for the intelligent controller 31 to modify the NC code, to control the motors 213 to adjust the position of the cutter center point A (TCP) of the cutting head 212, so as to achieve the effect of modifying the NC code online.

參閱圖3、圖8，及圖9，接著說明本實施例進行前述角度補償的流程，首先該水刀加工參數智慧計算補償模組32會根據使用者所輸入的目標加工條件，也就是一欲在一工件上加工之角度51(本例示中以6∘為例)，而輸出一姿態補償角參數52(本例示中為0.01∘)，接著該智能化控制器31將該加工之角度51與該姿態補償角參數52匯流而得出一理想值53(6∘+0.01∘=6.01∘)，另一方面，該等編碼器215會即時測得該等馬達213之實際擺轉角度54(本例示中為6∘)，此一角度54是由該等馬達213所輸出的旋轉量換算而得，但受到機構的定位精度、該工件之材料特性及其他運動條件等影響，該切割頭212呈現的傾斜角度並不會等於該實際擺轉角度54，因此還需與該慣性量測模組214所測得的傾擺角度55(本例示中為6.05∘)相比對，將該實際擺轉角度54及該傾擺角度55相減而得出一差值56(6.05∘-6∘=0.05∘)，將前述的理想值53與該差值56匯流而得出一回授姿態角度57(6.01∘+0.05∘=6.06∘)，該智能化控制器31會根據該回授姿態角度57對該等馬達213進行控制以進行角度補償58(在本例示中，便是控制該等馬達213修正6.06∘-6∘=0.06∘)，也就是該回授姿態角度57會回授給該智能化控制器31做為修正NC碼的參考，以進行線上即時編程加工NC碼，且通訊埠協定TCP/IT可適用於全球IT規格，更可應用於一般的切割頭上，反觀先前技術的控制器並無法應用於本案的切割頭212上，足見本案具有較高的泛用性。本案透過前述的方式對刀具中心點A(TCP)位置與姿態角迴授進行高精密度的姿態角度補償。Referring to FIG. 3, FIG. 8, and FIG. 9, the flow of the aforementioned angle compensation is described in this embodiment. First, the water jet machining parameter intelligent calculation compensation module 32 will be based on the target machining conditions input by the user, which is a desire The processing angle 51 on a workpiece (in this example, 6∘ is taken as an example), and an attitude compensation angle parameter 52 (in this example, 0.01∘) is output, and then the intelligent controller 31 applies the processing angle 51 to The attitude compensation angle parameter 52 converges to an ideal value 53 (6∘+0.01∘=6.01∘). On the other hand, the encoders 215 will immediately measure the actual swing angle 54 of the motors 213 (this In the example, it is 6∘). This angle 54 is converted from the rotation output by the motors 213, but affected by the positioning accuracy of the mechanism, the material characteristics of the workpiece, and other motion conditions, the cutting head 212 presents The tilt angle of will not be equal to the actual swing angle 54, so it needs to be compared with the tilt angle 55 (6.05∘ in this example) measured by the inertial measurement module 214. The angle 54 and the tilt angle 55 are subtracted to obtain a difference 56 (6.05∘-6∘=0.05∘), and the aforementioned ideal value 53 is merged with the difference 56 to obtain a feedback posture angle 57( 6.01∘+0.05∘=6.06∘), the intelligent controller 31 will control the motors 213 according to the feedback attitude angle 57 to perform angle compensation 58 (in this example, it is to control the motors 213 to modify 6.06∘-6∘=0.06∘), that is, the feedback posture angle 57 will be fed back to the intelligent controller 31 as a reference to modify the NC code for online real-time programming and processing of the NC code, and the communication port protocol TCP /IT can be applied to global IT specifications, and can also be applied to general cutting heads. In contrast, the prior art controller cannot be applied to the cutting head 212 in this case, which shows that this case has high versatility. In this case, high-precision attitude angle compensation is performed on the tool center point A (TCP) position and attitude angle feedback through the aforementioned method.

復參閱圖3及圖4，本發明智慧五軸同動多相態水刀加工系統1有以下幾點優勢：Referring back to FIGS. 3 and 4, the intelligent five-axis simultaneous multi-phase waterjet machining system 1 of the present invention has the following advantages:

(1)本發明透過該參數加工模組、該智能化控制器31及該慣性量測模組214相配合，可即時且準確地測得該切割頭212的實際物理傾擺角度，並能對刀具中心點A(TCP)位置與姿態角迴授進行高精密度的姿態角度回授補償(≦0.04∘)，加上該切割頭212的可調式彈性刀長及2.5D槍頭的機構特性，使本發明的加工精度能趨近定位精度，切割精度可達到±0.1mm內，斜度誤差小於0.025mm內，達到航太工業精度加工等級(＜±0.2mm)以上，讓水刀的切割精度幾可達到超精密CNC工具機之標準。(1) The present invention can cooperate with the parameter processing module, the intelligent controller 31 and the inertial measurement module 214 to measure the actual physical tilt angle of the cutting head 212 in real time and accurately The tool center point A (TCP) position and attitude angle feedback perform high-precision attitude angle feedback compensation (≦0.04∘), plus the adjustable elastic blade length of the cutting head 212 and the mechanical characteristics of the 2.5D gun head, The processing accuracy of the invention can approach the positioning accuracy, the cutting accuracy can reach within ±0.1mm, and the slope error is less than 0.025mm, which can reach the aerospace industrial precision processing level (<±0.2mm) and allow the waterjet cutting accuracy It can reach the standard of ultra-precision CNC machine tool.

(2)該水刀加工參數智慧計算補償模組32能分析及計算槍頭混砂群組之相關條件，包括磨料參數及切割頭212參數，故可根據磨料參數將射流裝置21條件的噴嘴直徑(d o)及混砂管徑(d f)間的比值關係控制在最佳的2~4，提高加工精密度，此外該水刀加工參數智慧計算補償模組32還能分析具有傾角的混砂槍頭組(例如前述的Y type及T type)，根據高壓水流量m w及磨料流率m a可配比出砂水最適流率比(m a/m w)15~25%，不僅加工參數項較一般水刀系統齊全，且既使加工材料的厚度小於2mm仍可進行分析，更適合於複合材料如CFRP的加工使用。 (2) The waterjet machining parameter intelligent calculation compensation module 32 can analyze and calculate the relevant conditions of the gun head sand mixing group, including abrasive parameters and cutting head 212 parameters, so the nozzle diameter of the jet device 21 condition can be adjusted according to the abrasive parameters The ratio relationship between (d o ) and the diameter of the sand mixing pipe (d f ) is controlled at the optimal 2~4, which improves the machining precision. In addition, the water jet machining parameter intelligent calculation compensation module 32 can also analyze the mixing with inclination sand tip group (e.g., the aforementioned Y type and T type), high-pressure water and the abrasive flow rate m w m a flow rate ratio of sand may be the optimum water flow ratio (m a / m w) 15 ~ 25%, not only The processing parameters are more complete than the general waterjet system, and even if the thickness of the processed material is less than 2mm, it can still be analyzed. It is more suitable for the processing of composite materials such as CFRP.

(3)該智能化控制器31的資料輸出採國際通訊的OPC UA協定，數據格式為與德國工具機相容的VDW格式，適配性及通用性高，可將警報、加工座標位置、程式名稱、完成工件數等資料輸出，其輸出的數據除了可輸送至電腦的資料庫外，也能透過物聯網(IoT)上傳至網路附加儲存器(NAS)、雲端資料庫或智慧裝置中，如此一來管理人員便能於遠端即時掌握多台智慧五軸同動多相態水刀加工系統1的加工情形，這些數據資料可進一步彙整或經機器學習(例如以VMX平台收集加工參數及履歷)，以作為加工演算法開發、製程改善、參數調整甚至是新增材料庫之材料特性的依據，於加工產線的大方向來說，還能用來擬定資源規劃(ERP)、物料需求規劃(MRP)、生產排程、品質管理等經營策略，使產線自動化、智慧化，及最佳化。(3) The data output of the intelligent controller 31 adopts the OPC UA agreement of international communication. The data format is a VDW format compatible with German machine tools. It has high adaptability and versatility. It can alarm, process coordinate position, and program. The output of data such as the name and the number of completed workpieces. In addition to the database that can be sent to the computer, the output data can also be uploaded to the network attached storage (NAS), cloud database, or smart device through the Internet of Things (IoT). In this way, the management personnel can remotely grasp the processing status of multiple intelligent five-axis simultaneous multi-phase waterjet machining systems 1 in real time. These data can be further aggregated or machine-learned (such as collecting processing parameters and processing parameters on the VMX platform) CV), as a basis for processing algorithm development, process improvement, parameter adjustment and even the material characteristics of the newly added material library. In the general direction of the processing production line, it can also be used to formulate resource planning (ERP) and material requirements Planning (MRP), production scheduling, quality management and other business strategies to automate, intelligentize, and optimize production lines.

(4)透過該定位檢驗模組33的雷射干涉儀可消彌該機械臂211的背隙及節距誤差，以透過該智能化控制器31將機構運動補償至正確的目標位置，完成體積補償及輪廓補償，提高定位精度，同時使運動控制軸卡之種類不受制，而有更大的選用彈性。(4) The laser interferometer of the positioning inspection module 33 can eliminate the backlash and pitch errors of the mechanical arm 211, so as to compensate the mechanism movement to the correct target position through the intelligent controller 31 to complete the volume Compensation and contour compensation improve the positioning accuracy, and at the same time make the type of motion control axis card unrestrained, and have greater flexibility in selection.

綜上所述，該水刀加工參數智慧計算補償模組32加入了基於該慣性量測模組214的姿態補償角參數，結合刀具中心點A(TCP)的實際物理模型的偏差迴授補償計算，並可將回授姿態角度回授給該智能化控制器31，以作為修正NC碼之參考，此屬線上即時編程加工NC碼的新技術，能有效提高加工精度，配合該切割頭212的可調式彈性刀長及2.5D槍頭機構特性，可使加工精度趨近定位精度，達到航太工業加工等級以上及工具機標準，故確實能達成本發明之目的。In summary, the intelligent calculation compensation module 32 of the waterjet machining parameter incorporates the attitude compensation angle parameter based on the inertial measurement module 214, combined with the deviation feedback compensation calculation of the actual physical model of the tool center point A (TCP) , And the feedback posture angle can be fed back to the intelligent controller 31 as a reference to modify the NC code. This is a new technology for online real-time programming and processing of NC codes, which can effectively improve the processing accuracy and cooperate with the cutting head 212. The adjustable elastic blade length and the 2.5D gun head mechanism characteristics can make the processing accuracy approach the positioning accuracy, reaching the aerospace industrial processing level and above and the machine tool standard, so it can really achieve the purpose of cost invention.

惟以上所述者，僅為本發明之實施例而已，當不能以此限定本發明實施之範圍，凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above are only examples of the present invention, and should not be used to limit the scope of the present invention. Any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the patent specification are still classified as This invention covers the patent.

1‧‧‧智慧五軸同動多相態水刀加工系統 2‧‧‧加工單元 21‧‧‧射流裝置 211‧‧‧機械臂 212‧‧‧切割頭 213‧‧‧馬達 214‧‧‧慣性量測模組 215‧‧‧編碼器 216‧‧‧磁力計 217‧‧‧加速計 218‧‧‧陀螺儀 22‧‧‧供砂源 23‧‧‧供水源 3‧‧‧監控單元 31‧‧‧智能化控制器 32‧‧‧水刀加工參數智慧計算補償模組 33‧‧‧定位檢驗模組 34‧‧‧預警模組 35‧‧‧耗材提示模組 41‧‧‧電腦 42‧‧‧智慧裝置 43‧‧‧雲端資料庫 51‧‧‧加工之角度 52‧‧‧姿態補償角參數 53‧‧‧理想值 54‧‧‧實際擺轉角度 55‧‧‧傾擺角度 56‧‧‧差值 57‧‧‧回授姿態角度 A‧‧‧刀具中心點 1‧‧‧Smart five-axis simultaneous multi-phase waterjet machining system 2‧‧‧Processing unit 21‧‧‧Jet device 211‧‧‧Robot 212‧‧‧Cutting head 213‧‧‧Motor 214‧‧‧Inertial measurement module 215‧‧‧Encoder 216‧‧‧Magnetometer 217‧‧‧Accelerometer 218‧‧‧Gyroscope 22‧‧‧Supply sand source 23‧‧‧ Water supply source 3‧‧‧Monitoring unit 31‧‧‧Intelligent controller 32‧‧‧Intelligent calculation and compensation module for waterjet machining parameters 33‧‧‧ Positioning inspection module 34‧‧‧ Early warning module 35‧‧‧Consumables prompt module 41‧‧‧ Computer 42‧‧‧Smart device 43‧‧‧ cloud database 51‧‧‧Processing angle 52‧‧‧Attitude compensation angle parameter 53‧‧‧ideal value 54‧‧‧ Actual swing angle 55‧‧‧Tilt angle 56‧‧‧ Difference 57‧‧‧ Feedback attitude angle A‧‧‧Cutter center point

本發明之其它的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是一流程圖，說明美國專利US20180364679A1號產生刀具路徑的流程； 圖2是一配置圖，說明美國專利US9597772B2號的自適應向量控制系統； 圖3是一配置圖，說明本發明智慧五軸同動多相態水刀加工系統之一實施例； 圖4是一側視局部剖面圖，說明本實施例中之一射流裝置； 圖5是一流程圖，說明本實施例的作業邏輯； 圖6是一流程圖，說明本實施例的GM碼製成及動作流程； 圖7是一流程圖，說明本實施例的M碼執行步驟； 圖8是一示意圖，說明本實施例的角度補償流程；及 圖9是一示意圖，用於輔助說明圖8之角度補償。 Other features and functions of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: FIG. 1 is a flowchart illustrating the process of generating a tool path in US Patent No. US20180364679A1; 2 is a configuration diagram illustrating the adaptive vector control system of US Patent No. US9597772B2; 3 is a configuration diagram illustrating an embodiment of the intelligent five-axis simultaneous multiphase waterjet machining system of the present invention; 4 is a partial cross-sectional view from the side, illustrating one of the jet devices in this embodiment; FIG. 5 is a flowchart illustrating the operation logic of this embodiment; 6 is a flowchart illustrating the GM code production and operation flow of this embodiment; 7 is a flowchart illustrating the M code execution steps of this embodiment; 8 is a schematic diagram illustrating the angle compensation process of this embodiment; and FIG. 9 is a schematic diagram to assist in explaining the angle compensation of FIG. 8.

1‧‧‧智慧五軸同動多相態水刀加工系統 1‧‧‧Smart five-axis simultaneous multi-phase waterjet machining system

2‧‧‧加工單元 2‧‧‧Processing unit

21‧‧‧射流裝置 21‧‧‧Jet device

211‧‧‧機械臂 211‧‧‧Robot

212‧‧‧切割頭 212‧‧‧Cutting head

213‧‧‧馬達 213‧‧‧Motor

214‧‧‧慣性量測模組 214‧‧‧Inertial measurement module

215‧‧‧編碼器 215‧‧‧Encoder

22‧‧‧供砂源 22‧‧‧Supply sand source

23‧‧‧供水源 23‧‧‧ Water supply source

3‧‧‧監控單元 3‧‧‧Monitoring unit

31‧‧‧智能化控制器 31‧‧‧Intelligent controller

32‧‧‧水刀加工參數智慧計算補償模組 32‧‧‧Intelligent calculation and compensation module for waterjet machining parameters

33‧‧‧定位檢驗模組 33‧‧‧ Positioning inspection module

34‧‧‧預警模組 34‧‧‧ Early warning module

35‧‧‧耗材提示模組 35‧‧‧Consumables prompt module

41‧‧‧電腦 41‧‧‧ Computer

42‧‧‧智慧裝置 42‧‧‧Smart device

43‧‧‧雲端資料庫 43‧‧‧ cloud database

Claims (10)

一種智慧五軸同動多相態水刀加工系統，用於對一工件進行加工，包含： 一加工單元，包括一射流裝置、一連接該射流裝置的供砂源，及一連接該射流裝置且提供高壓水射流的供水源，該射流裝置具有一個機械臂、一連接於該機械臂上且連接該供砂源及該供水源而可受控制噴出混砂射流的切割頭、複數設置於該機械臂上以使該機械臂帶動該切割頭沿五個軸向進行運動的馬達，及一設置於該切割頭上，並可感測該切割頭之刀具中心點空間位態定位的慣性量測模組；及 一監控單元，包括一可根據目標加工條件計算出補償值的水刀加工參數智慧計算補償模組，及一訊號連接該水刀加工參數智慧計算補償模組、該等馬達及該慣性量測模組的智能化控制器，該水刀加工參數智慧計算補償模組的目標加工條件包括一欲在該工件上加工之角度，該補償值包括一姿態補償角參數，該智能化控制器可將該加工之角度與該姿態補償角參數匯流而得出一理想值，接著比對該等馬達的實際擺轉角度與該慣性量測模組所測得的傾擺角度而得出一差值，將該差值與該理想值匯流而得出一回授姿態角度，該智能化控制器可根據該回授姿態角度即時控制該等馬達以即時進行角度補償。 A smart five-axis simultaneous multiphase waterjet machining system for processing a workpiece, including: A processing unit includes a jet device, a sand supply source connected to the jet device, and a water supply source connected to the jet device and providing a high-pressure water jet. The jet device has a mechanical arm and a mechanical arm connected to the mechanical arm and A cutting head connected to the sand supply source and the water supply source and capable of being controlled to spray a mixed sand jet, a plurality of motors arranged on the mechanical arm to make the mechanical arm drive the cutting head to move along five axial directions, and a setting An inertial measurement module on the cutting head that can sense the spatial position of the cutter center point of the cutting head; and A monitoring unit, including a water jet machining parameter intelligent calculation compensation module that can calculate the compensation value according to the target machining conditions, and a signal connected to the water jet machining parameter intelligent calculation compensation module, the motors and the inertial measurement module Set of intelligent controllers, the waterjet machining parameters intelligently calculate the target machining conditions of the compensation module including an angle to be processed on the workpiece, the compensation value includes an attitude compensation angle parameter, and the intelligent controller can The processing angle and the attitude compensation angle parameter converge to obtain an ideal value, and then compare the actual swing angle of the motors with the tilt angle measured by the inertial measurement module to obtain a difference, and The difference and the ideal value converge to obtain a feedback attitude angle, and the intelligent controller can control the motors in real time according to the feedback attitude angle to perform angle compensation in real time. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該加工單元之慣性量測模組具有一磁力計、一加速計，及一陀螺儀。The intelligent five-axis simultaneous multiphase waterjet machining system according to claim 1, wherein the inertial measurement module of the machining unit has a magnetometer, an accelerometer, and a gyroscope. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該加工單元還包括複數設置於該等馬達上且訊號連接該智能化控制器的編碼器，該等編碼器用於即時檢測該等馬達之實際擺轉角度。The intelligent five-axis simultaneous multi-phase waterjet machining system according to claim 1, wherein the machining unit further includes a plurality of encoders arranged on the motors and connected to the intelligent controller with signals, the encoders are used for Instantly detect the actual swing angle of these motors. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該監控單元還包括一訊號連接該智能化控制器且對應該加工單元之機械臂的定位檢驗模組，該定位檢驗模組用於檢測該機械臂多個目標位置與實際位置的誤差值，並將該等誤差值輸入該智能化控制器以透過調整該等馬達對該機械臂進行補償。The intelligent five-axis simultaneous multi-phase waterjet machining system according to claim 1, wherein the monitoring unit further includes a signal connection to the intelligent controller and a positioning inspection module corresponding to the robot arm of the machining unit, the The positioning inspection module is used to detect the error values between the target position and the actual position of the robot arm, and input the error values into the intelligent controller to compensate the robot arm by adjusting the motors. 如請求項4所述的智慧五軸同動多相態水刀加工系統，其中，該定位檢驗模組具有至少一用於檢測背隙及節距誤差的雷射干涉儀。The intelligent five-axis simultaneous multiphase waterjet machining system according to claim 4, wherein the positioning inspection module has at least one laser interferometer for detecting backlash and pitch errors. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該監控單元之水刀加工參數智慧計算補償模組的目標加工條件還包括磨料參數及切割頭參數。The intelligent five-axis simultaneous multi-phase waterjet machining system according to claim 1, wherein the target machining conditions of the waterjet machining parameter intelligent calculation compensation module of the monitoring unit further include abrasive parameters and cutting head parameters. 如請求項6所述的智慧五軸同動多相態水刀加工系統，其中，該磨料參數包括磨料粒徑、磨料形狀，及磨料密度。The intelligent five-axis simultaneous multiphase waterjet machining system according to claim 6, wherein the abrasive parameters include abrasive particle size, abrasive shape, and abrasive density. 如請求項6所述的智慧五軸同動多相態水刀加工系統，其中，該切割頭參數包括槍頭形式、混砂管長及混砂管徑。The intelligent five-axis simultaneous multiphase waterjet machining system as described in claim 6, wherein the cutting head parameters include a gun head form, a sand mixing tube length, and a sand mixing tube diameter. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該監控單元之智能化控制器可將數據資料排列成VDW格式，並以通信平台統一架構方式輸出。The intelligent five-axis simultaneous multi-phase waterjet machining system as described in claim 1, wherein the intelligent controller of the monitoring unit can arrange the data in VDW format and output it in a unified architecture of the communication platform. 如請求項1所述的智慧五軸同動多相態水刀加工系統，其中，該監控單元還包括一訊號連接該智能化控制器及該加工單元的預警模組，及一訊號連接該智能化控制器並監測該切割頭，以提示該切割頭之耗材更換的耗材提示模組。The intelligent five-axis simultaneous multi-phase waterjet machining system according to claim 1, wherein the monitoring unit further includes a signal connecting the intelligent controller and the early warning module of the processing unit, and a signal connecting the intelligent The controller also monitors the cutting head to prompt the consumables prompting module to replace the consumables of the cutting head.
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